Cooperative Underwater Vehicle-Manipulator Operation Using Redundant Resolution Method

This paper presents a cooperative manipulation method for dual-arm underwater vehicle-manipulator system (UVMS). The objective task is handle valve turning, which common task. We propose that includes the concept of grasping fixed structure such as pipeline. While and valve, entire can be considered parallel manipulator. Because kinematic properties system, load turning distributed between vehicle manipulator, means help with operation In addition, external disturbances oceanic currents efficiently compensated by using proposed due to system. kinematics dynamics were analyzed. was developed modifying adjusting redundancy resolution theory To prove superiority method, UVMS designed fabricated. advantages validated through simulations experiments.